As social animals, it is crucial to understand others' intention. But is it possible to detect social intention in two actions that have the exact same motor goal? In the present study, we presented participants with video clips of an individual reaching for and grasping an object to either use it (personal trial) or to give his partner the opportunity to use it (social trial). In Experiment 1, the ability of naïve participants to classify correctly social trials through simple observation of short video clips was tested. In addition, detection levels were analyzed as a function of individual scores in psychological questionnaires of motor imagery, visual imagery, and social cognition. Results revealed that the between-participant heterogeneity in the ability to distinguish social from personal actions was predicted by the social skill abilities. A second experiment was then conducted to assess what predictive mechanism could contribute to the detection of social intention. Video clips were sliced and normalized to control for either the reaction times (RTs) or/and the movement times (MTs) of the grasping action. Tested in a second group of participants, results showed that the detection of social intention relies on the variation of both RT and MT that are implicitly perceived in the grasping action. The ability to use implicitly these motor deviants for action-outcome understanding would be the key to intuitive social interaction.